Can I create a custom shelf without scripting?
There is no way that I know of natively in blender without using python.
That said, basic ui stuff for blender is fairly simple, so long as you just want to chuck existing operators/functions on a panel.
See How to create a custom UI? for a quick intro.

If you don't want to learn python, you could try this paid addon (it claims to do more than just pie menus, side panels as well):
https://blendermarket.com/products/pie-menu-editor
(disclaimer: I have never used this addon, so I have no idea how well it works)